Dual-arm Manipulation Planning Kensuke Harada, Weiwei Wan and Ixchel - - PowerPoint PPT Presentation

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Dual-arm Manipulation Planning Kensuke Harada, Weiwei Wan and Ixchel - - PowerPoint PPT Presentation

Oct 27, 2023 224 likes •521 views

Dual-arm Manipulation Planning Kensuke Harada, Weiwei Wan and Ixchel G. Ramiez-Alpizar Manipulation Research Group National Institute of Advanced Industrial Science and Technology (AIST) 1

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計測フロンティア研究部門

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Dual-arm Manipulation Planning

Kensuke Harada, Weiwei Wan and Ixchel G. Ramiez-Alpizar Manipulation Research Group National Institute of Advanced Industrial Science and Technology (AIST)

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Today’s Talk

  • Whole Body Manipulation
  • Dual-arm Manipulation Planning (Recent Work)
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Whole Body Manipulation by Humanoid Robots

Enhancing its Mobility Performing Tasks

Extending ZMP Real-time Gait Planning

Utilization of Hand Reaction Force

Pushing Lifting up Motion Planning

ZMP Based Biped Gait

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Generation of Biped Gait in Real- time According to the Result of Arm Force Control

Heavy Object Light Object

Pushing Manipulation by Humanoid Robots

Harada et al., IEEE/ASME TMECH ’07, ICRA’04

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Lifting up

Modification of Waist Position According to the Hand Reaction Force

Harada et al. ICRA ’05

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Stabile Gait Based

  • n ZMP (Zero

Moment Point)

Enhancing Humanoid Robot’s Mobility

  • s

Stable Motion including Hand Contact

Waling with Pushing Supporting its Weight using Hands Climbing up a Big Gap with Grasping Hand Rail

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Extension of ZMP Theory to Manipulation Tasks

Definition of Stability using 3D Convex Polyhedron

Y X Z pG ( ) = ~ pG

~

Harada et al., IEEE TRO ’06, ISER ’06

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Strong Grasping Force Stable

Stability of Humanoid Robot Considering the Grasping Force

m

f

H2

zH

Harada et al., IROS ’04

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L

Contact Wrench Sum (CWS)

(Gravity and Inertia Wrench)

⇒ Polyhedral Convex Cone

G

p

: Center of mass : Angular momentum around COG Contact Wrench Cone (CWC)

Mobility ～Contact Wrench Sum (CWS)

Hirukawa et al. ICRA ‘07

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Motion Planning for Humanoid Robots

Whole Body Motion Planning Grasp Planning Gait Planning

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Whole-body Motion Planning +

Dynamic Walking Pattern Generator

国立研究開発法人

Harda et al. IEEE/ASME TMECH ’10，IROS ’07

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Searching Process

Simultaneous Foot-Place/Upper-Body Motion Planning

  • Using Real-time walking

pattern generator for offline kinodynamic motion planning

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Motion Planning for Humanoid Robots

Whole Body Motion Planning Grasp Planning Gait Planning

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Several Regrasping Styles by a Dual-Arm Manipulator

・Right Pick - Right Place ・Right Pick - Regrasp - Left Place ・Right Pick - Right Place - Left Pick - Left Place ・Right Pick - Right Place - Right Pick - Right Place Etc..

Harada et al. (ICRA ‘12)

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CSo

ｘ

CSr CSl

ｘ

CP CGl CGr CS =

qi qf

Configuration Space for Dual-Arm Manipulator

Harada et al. ICRA ’14

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CP CGL CGR

Basic Structure

Initial Grasp (Left) Intermediate place (Grasped by left) Target place (Grasped by left) Initial Grasp (Right) Intermediate place (Grasped by right) Target place (Grasped by right) Bimanual grasp

CSo

ｘ

CSr CSl

ｘ

CS =

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Manipulation Graph

Harada et al. ICRA ’14

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Place Object on Table Regrasp between Right and Left

Regrasp between Right and Left

Harada et al. ICRA ’14

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Implementation of Dual-arm Manipulation

Randomized Bin-picking with Regrasp

国立研究開発法人 産業技術総合研究所 知能システム研究部門

  • Use of Parallel Computation for IK Calculation

Harada et al. IEEE SII ’14

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Development and Comparing Single-arm and Dual-arm Regrasps

Wan and Harada, Submitted for RA-L

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The he re regr grasp asp gra raph fo ph for sin r singl gle-arm arm reg egras rasp

Grasp planning component Placement planning component Regrasp graph component

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The he re regr grasp asp gra raph fo ph for dua r dual-ar arm m reg egra rasp sp

Grasp planning component Handover planning component Regrasp graph component

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Sear earch chin ing a g and nd u upda pdati ting ng th the e regra grasp sp g grap raph h

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Compare Single-arm and Dual-arm reorientation

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Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks

Collect multiple objects from using Dual-arm manipulator Determine a sequence of the base position Selective Use of Two Hands Can Reduce the Number of Sequence

Dual-arm Mobile Manipulator Performing Parts-Supply Task Harada et al., Humanoids 2015

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Asse ssembly P Planning g of El Elast stic P Parts

CHOMP Planner Index Function：Collision Avoidance Smoothness Elastic Potential Energy

Grasping Point

Assembly of Elastic O-ring to Cylindrical Part Use of Optimization Based Motion Planner (CHOMP Planner) Consideration of Elastic Energy Term to the Index Function

オイルシール

国立研究開発法人 産業技術総合研究所 知能システム研究部門

Assembled Elastic Part

国立研究開発法人

(Ramirez-Alpizar, Harada, and Yoshida, Humanoids ’14)

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Conclusions

  • This talk introduced the whole body

manipulation and the dual-arm manipulation by humanoid robots